Naslov
Energy Evaluation of Variable Structure Control Methods for a Robot Arm

Autori
Krajči, Vesna ; Jurišica, Ladislav

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 4th Scientific-Technical Conference with International Participation Process Control '99 / Mikleš, Ján ; Krejči, Stanislav - Bratislava : Slovak University of Technology Press, 1999, 52-55

Skup
The 4th Scientific-Technical Conference with International Participation Process Control '99

Mjesto i datum
Tatranské Matliare, Slovačka, 31.05.1999. - 03.06.1999

Vrsta sudjelovanja
Ostalo

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
robotics, variable structure control, energy, simulation

Sažetak
Energy evaluation of variable structure control methods for a robot arm can be done during the parameter adjustment and simulation of robustness. Parameters of variable structure controllers with saturation function and continuous function with a very thin boundary layer are adjusted according to these principles: desired tracking error, no chattering and minimum energy. The proposed variable structure controllers were tested by computer simulations on the straight-line and the circular robot tool tip trajectories, in the case of nominal robot parameters, and the results show energy usage decreasing of three times. The robustness of the proposed variable structure control methods were tested by changing robot parameters and adding external disturbances and noise. The modified variable structure controllers proved their effectiveness in trajectory tracking and reducing of energy.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Elektrotehnika, Računarstvo, Temeljne tehničke znanosti, Interdisciplinarne tehničke znanosti

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